Dynamic Modelling of a Flexible Manipulator: Comparison between AMM and FEM

Abstract

This paper presents the dynamic modelling of a flexible robot manipulator incorporating payload. A planar flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a finite element and assumed mode methods (FEM and AMM). In this work will make a comparison between FEM and AMM. Simulation is performed to assess the dynamic model and system responses at the hub and modal displacement of link are presented and analysed in time and frequency domains. Moreover, effects of payload on the dynamic characteristics of the flexible manipulator are studied and discussed